System for detecting surrounding conditions of moving body

ABSTRACT

This system for detecting the surrounding conditions of a moving body forcibly changes the state of at least one of a plurality of lighting devices (change from an unlit state to a lighting state or a blinking state, change in the emission color, or change in the luminance) installed inside the moving body, if an object to which attention must be paid during traveling of the moving body is detected in the surroundings of the moving body.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims benefit under 35 USC § 120 as a Continuation ofU.S. patent application Ser. No. 16/034,257, filed Jul. 12, 2018, andU.S. patent application Ser. No. 16/034,283, filed Jul. 12, 2018, whichare Continuations of U.S. patent application Ser. No. 15/711,988, filedSep. 21, 2017, which is a Continuation of U.S. patent application Ser.No. 15/489,174, filed on Apr. 17, 2017 (U.S. Pat. No. 9,802,532, issuedOct. 31, 2017), which is a Continuation of U.S. patent application Ser.No. 14/110,118, filed on Dec. 17, 2013 (U.S. Pat. No. 9,649,972, issuedMay 16, 2017), which is a National Stage entry under 35 USC § 371 ofPCT/JP2011/058803, filed Apr. 7, 2011, the contents of which areincorporated by reference in their entirety for all purposes.

TECHNICAL FIELD

The present invention relates to a system for detecting surroundingconditions of a moving body that notifies a moving body driver ofconditions around the moving body, in particular, surrounding conditionsthat can be used to facilitate driving of the moving body.

BACKGROUND ART

To assist driving of a vehicle (i.e., moving body), a device thatnotifies a vehicle driver of surrounding conditions regarding travelingof the vehicle is known (see, for example, Patent Document 1). Thedevice notifies the surrounding conditions by displaying on anon-vehicle display unit a video obtained by video-recording surroundingsof the vehicle with an on-vehicle camera.

However, there is a problem; to check contents displayed on theon-vehicle display unit, the driver needs to move his visual line from atravelling direction of the moving body to the display unit.

Patent Document 1: Japanese Patent Application Kokai No. 2000-285394

SUMMARY OF THE INVENTION Problems to be Solved by the Invention

The present invention has been developed in order to solve theabove-described problem, and its object is to provide a system fordetecting surrounding conditions of a moving body (e.g., a vehicle, aship, and an aircraft) that can notify a driver of surroundingconditions of the moving body without causing the driver to move hisvisual line.

Solutions to the Problems

A system for detecting surrounding conditions of a moving body accordingto claim 1 is a system for detecting surrounding conditions of a movingbody that includes a plurality of lighting devices (illuminationdevices), a detector, and a controller. The illumination devices aredisposed in a room (cabin) of the moving body. Each of the illuminationdevices has a switch for switching between a lighting state (or a turnon state) and an unlit state (or a turn off state). The detector isconfigured to detect an object to which attention must be paid aroundthe moving body. The controller is configured to change a state of atleast one of the lighting devices upon detecting the attention-requiredobject.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a system for detecting surroundingconditions of a moving body according to the present invention.

FIGS. 2A and 2B show exemplary installation of illumination panels 2mounted in a cabin of a vehicle or the moving body.

FIG. 3 is a perspective view of a schematic structure of acontact-sensor-integrated EL panel 23.

FIG. 4 is a flowchart illustrating a main flow of a surroundingcondition notification control.

FIG. 5 is a flowchart illustrating a forward vehicle's rear lampnotification subroutine.

FIG. 6 is a flowchart illustrating a traffic light notificationsubroutine.

FIG. 7 is a flowchart illustrating a pedestrian/bicycle notificationsubroutine.

FIG. 8 is a flowchart illustrating an attention-required zone(cautionary zone) notification subroutine.

FIG. 9 is a flowchart illustrating an emergency vehicle notificationsubroutine.

FIG. 10 is a flowchart illustrating an obstacle notification subroutine.

FIG. 11A to FIG. 11E illustrate lighting states of illumination panels 2₁ to 2 ₄ according to a lighting state of a rear lamp assembly of avehicle traveling forward, respectively.

FIG. 12A to FIG. 12F illustrate lighting states of illumination panels 2₅ to 2 ₈ according to a lighting state of a traffic light ahead,respectively.

FIG. 13A to FIG. 13C illustrate lighting states of illumination panels 2₉ to 2 ₁₄ when an obstacle-to-avoid is present around the vehicleequipped with the surrounding condition detecting system, respectively.

FIG. 14A and FIG. 14B illustrate exemplary lighting states ofillumination panels 2 ₁₅ and 2 ₁₆ when the vehicle equipped with thesurrounding condition detecting system enters an intersection with poorvisibility.

MODE FOR CARRYING OUT THE INVENTION

When a system for detecting surrounding conditions of a moving bodyaccording to the present invention detects a “pay attention” object towhich attention must be paid during traveling, in the surroundings ofthe moving body, then the system forcibly changes a state of at leastone illumination device among a plurality of illumination devicesinstalled in a cabin of the moving body (change from a unlit state to alighting or blinking state, change in emission color, or change inluminance). Accordingly, even if a driver of the moving body does notvisually observe an attention-required object present near the movingbody, a change in the state of the lighting device (illumination device)enters the driver's field of vision. This enables the driver torecognize that the attention-required object approaches the moving bodyor the moving body approaches the attention-required object. To thisend, changed is the state of the illumination device (s) installed at aposition corresponding to a direction where the attention-requiredobject is present. This allows the moving body driver to recognize thedirection where the attention-required object is present without movingthe driver's visual line. In the case where the attention-requiredobject is lighting of a rear lamp of a forward vehicle (the rear lampmay be a lamp assembly that includes at least one of a stop lamp, abackup lamp, a turn signal lamp, and a hazard warning lamp), anillumination panel (light-emitting panel) installed in front of adriver's seat is caused to light or blink (flash) in a colorcorresponding to a lighting color of the rear lamp assembly.Accordingly, even if the driver does not look straight the rear lampassembly of the forward vehicle, the driver can recognize whether thelighting rear lamp assembly of the forward vehicle is the backup lamp,the stop lamp, the turn signal lamp, or the hazard warning lamp withoutmoving the direction of his visual line. In the case where theattention-required object is a traffic light, the illumination panelinstalled above the driver's seat in the moving body is caused to lightin a color corresponding to a lighting color of the traffic light.Accordingly, even if the driver does not look at the traffic lightahead, the driver can recognize the lighting color of the traffic lightwithout moving the direction of his visual line. In the case where theattention-required object is an avoidance-required obstacle which thevehicle equipped with the surrounding condition detecting system mustavoid, such as pedestrian, a bicycle, a wall, an edge stone, anobstruction, or an emergency vehicle, then an illumination panelinstalled in a direction that the avoidance-required obstacle is presentis forced to light or blink. An emission color, luminance, and/or ablinking speed of the illumination panel are also altered according to adistance and a relative speed between the moving body and theavoidance-required obstacle. When the avoidance-required obstacle is anobstruction that hinders the traveling of the vehicle equipped with thesurrounding condition detecting system, then the emission color and theluminance of the lighting panel (illumination panel) are changedaccording to a size of the obstruction. This allows the driver tointuitively recognize a hazard of the approaching avoidance-requiredobstacle.

Embodiments

FIG. 1 is a block diagram of a system configuration when a system fordetecting surrounding conditions of a moving body according to thepresent invention is provided in a vehicle.

In FIG. 1, illumination panels 2 ₁ to 2 _(n) (n represents an integerequal to or more than two), each of which serves as a lighting device oran illumination device, are installed, for example, at a front panel infront of a driver's seat, a steering wheel SW, a console box, doors DLand DR in the vehicle as illustrated by the dashed lines shown in FIG.2A and on the ceiling in the vehicle illustrated by the dashed linesshown in FIG. 2B, respectively. The illumination panels 2 ₁ to 2 _(n)are coupled to a controller 1 via a control bus BUS, respectively. Afront camera 3, a rear camera 5, and a side camera 6 are also coupled tothe controller 1 via the control bus BUS.

The illumination panels 2 ₁ to 2 _(n) have the same internalconfiguration.

When the controller 1 sends a lighting or a blinking command signal of acertain color (red, white, yellow, green, blue, purple, indigo ororange) to a lighting on/off switch 21 of an illumination panel 2 viathe control bus BUS, the lighting on/off switch 21 turns on and allows apower supply voltage V1 to be supplied to an electroluminescence (EL)panel drive r 22. When the controller 1 supplies an turn off commandsignal to the on/off switch 21 via the control bus BUS, the switch 21turns off, and stops the supply of the power supply voltage V1 to the ELpanel driver 22. The EL panel driver 22 generates various light emissiondrive voltages based on the lighting or blinking command signal of adesired color (red, white, yellow, green, blue, purple, indigo ororange) received from the controller 1 via the control bus BUS while thepower supply voltage V1 is being supplied through the switch 21, andsupplies the resulting light emission drive voltages to atouch-sensor-integrated EL panel 23. When, for example, the EL paneldriver 22 receives a red lighting command signal from the controller 1,the EL panel driver 22 supplies a light emission drive voltage to the ELpanel 23 to cause the EL panel to light in red. When the EL panel driver22 receives a yellow blinking command signal from the controller 1, theEL panel driver 22 supplies a light emission drive voltage to the ELpanel 23 to cause the EL pane 23 to blink in yellow.

FIG. 3 is a perspective view illustrating a rough structure of thetouch-sensor-integrated EL panel 23.

As shown in FIG. 3, the EL panel 23 includes a transparent touch sensorpanel TP bonded on a light emitting face of an organicelectroluminescence (EL) light emitting panel ELP.

The organic EL light emitting panel ELP as a plane EL light emittingelement lights or blinks in an emission color corresponding to the lightemission drive voltage supplied from the EL panel driver 22. The lightis emitted to outside via the touch sensor panel TP. The organic ELlight emitting panel ELP is in the off state (unlit state) when thelight emission drive voltage is not supplied. The touch sensor panel TPis a switch that switches between lighting and extinction (no lighting)of the organic EL light emitting panel ELP. When a person touches atouch sensor face of the touch sensor panel TP, the touch sensor panelTP generates a contact detection signal TC to turn on or off the organicEL light emitting panel ELP while the contact is being made. The contactdetection signal TC is supplied to the controller 1 via the control busBUS.

With the above-described configuration, each of the illumination panels2 ₁ to 2 _(n) lights or blinks in the emission color indicated by thelighting or blinking command signal that represents a desired color(red, white, yellow, green, blue, purple, indigo, or orange) receivedfrom the controller 1. When, for example, the controller 1 sends a whitelighting command to the lighting panel 2 ₁, the illumination panel 2 ₁emits a white light. When the controller 1 sends a white blinkingcommand, the lighting panel 2 ₁ blinks in white. When the controller 1sends a red lighting command to the illumination panel 2 ₁, theillumination panel 2 ₁ emits a red light. When the controller 1 sends ared blinking command, the illumination panel 2 ₁ blinks in red. Supplyof a turn off command signal from the controller 1 can turn off each ofthe light-emitting panels 2 ₁ to 2 _(n). Each of the light-emittingpanels 2 ₁ to 2 _(n) generates the contact detection signal TC each timethe touch sensor panel TP is made contact. The contact detection signalTC is sent to the controller 1.

The front camera 3 is installed at a front portion of a vehicleexterior. The front camera 3 supplies an image signal V1, which isobtained by video-recording the scene forward of the vehicle, to animage recognition processor 4.

The rear camera 5 is installed at a rear portion of the vehicleexterior. The rear camera 5 supplies an image signal V2, which isobtained by video-recording the scene backward of the vehicle, to theimage recognition processor 4.

The side cameras 6 are installed at lateral parts of the vehicleexterior, such as right and left side-view mirrors of the vehicle,respectively. The side cameras 6 supply image signals V3, which areobtained by video-recording the scene on both sides of the vehicle, tothe image recognition processor 4.

The image recognition processor 4 performs an image recognition processon the image signals V1 to V3 to detect in these images anattention-required object that the driver needs to care during driving.The attention-required object is, for example, a lighting state of arear lamp assembly of a forward vehicle, a traffic light, and anavoidance-required obstacle which the vehicle equipped with thesurrounding condition detecting system must avoid. Theavoidance-required obstacle is, for example, a pedestrian, a bicycle, anemergency vehicle, an obstruction that becomes an obstacle in traveling,a wall at a road with poor visibility, and an edge stone.

When light emission of the rear lamp assembly of a preceding vehicle isdetected in an image obtained from the image signal V1, the imagerecognition processor 4 generates rear lamp detection data RD. The rearlamp detection data RD indicates whether the emission color of the rearlamp assembly is red, white, or yellow. The image recognition processor4 supplies the rear lamp detection data RD to the controller 1 via thecontrol bus BUS. When the emission color of the rear lamp assembly isyellow, that is, when a turn signal lamp or a hazard warning lamp isactivated, direction indication information is included in the rear lampdetect ion data RD. The direction indication information indicateswhether the rear lamp assembly is blinking only on the right side,blinking only on the left side, or blinking on both right and leftsides.

When the traffic light is detected in the image obtained from on theimage signal V1, the image recognition processor 4 generatestraffic-light detection data SD. The traffic-light detection data SDindicates a lighting color of the traffic light. The image recognitionprocessor 4 supplies the traffic-light detection data SD to thecontroller 1 via the control bus BUS. In the case where a traffic lightshows (indicates, displays) a direction with an arrow, the imagerecognition processor 4 incorporates, in the traffic-light detectiondata SD, information representing a fact that this is an arrowindication and also representing the pointing direction of the arrow.

When a pedestrian or a bicycle is found in an image or images obtainedfrom the image signals V1 to V3, the image recognition processor 4generates pedestrian/bicycle detection data HD. The pedestrian/bicycledetection data HD indicates the direction of, distance to, and relativespeed of the pedestrian or bicycle, and the data is supplied to thecontroller 1 via the control bus BUS.

When the image recognition processor 4 detects an attention-requiredroad zone such as a road zone with poor visibility or a route in aparking area (parking lot) in the images derived from the image signalsV1 to V3 and also detects an attention-required object, such as a wall,an edge stone, and another vehicle on the attention-required road, thenthe image recognition processor 4 generates attention-required zonedetection data ED. The attention-required zone detection data EDincludes information representing the direction of, distance to, andrelative speed of the attention-required object. The image recognitionprocessor 4 supplies the attention-required zone detection data ED tothe controller 1 via the control bus BUS. The road zone with poorvisibility is a zone where the vehicle equipped with the surroundingcondition detecting system enters a wider road from a narrower roadwithout effective right/left visibility due to, for example, a blockade,such as a house wall.

When the image recognition processor 4 detects an emergency vehicle suchas a patrol car, a police car, an ambulance, and a fire engine in theimages obtained from the image signals V1 to V3, the image recognitionprocessor 4 generates emergency vehicle detection data QD. The emergencyvehicle detection data QD indicates the direction of, distance to, andrelative speed of the emergency vehicle. The image recognition processor4 supplies the emergency vehicle detection data QD to the controller 1via the control bus BUS.

When the image recognition processor 4 detects an obstruction on theroad in the images obtained from the image signals V1 to V3, the imagerecognition processor 4 generates obstruction detection data GD. Theobstruction detection data GD indicates the direction of, distance to,and a size of the obstruction. The image recognition processor 4supplies the obstruction detection data GD to the controller 1 via thecontrol bus BUS.

The controller 1 sends the turn on command (i.e., lighting commandsignal) or the turn off command to the illumination panel 2, which is adelivery source of the contact detection signal TC, in response to thecontact detection signal TC received from the illumination panel 2 ₁ to2 _(n). This allows the illumination panel 2 to be lighted by simplytouching the light emitting face of the illumination panel 2 with afingertip in the case where a person in the vehicle equipped with thesurrounding condition detecting system needs interior lighting. Touchingthe light emitting face of the illumination panel 2 with the fingertipagain turns off the illumination panel 2.

The controller 1 forces the light-emitting panel 2 to light or blink inorder to notify the person in the vehicle of the surrounding conditionsby performing the following surrounding condition notification control.

FIG. 4 is a flowchart illustrating a main flow of the surroundingcondition notification control.

In FIG. 4, first, the controller 1 executes a forward vehicle rear lampnotification subroutine to notify the occupant in the vehicle equippedwith the surrounding condition detecting system of a state of a rearlamp assembly of a vehicle traveling forward (Step S1). Next, thecontroller 1 executes a traffic light notification subroutine to notifythe occupant in the vehicle equipped with the surrounding conditiondetecting system of a color emitted by a traffic light ahead (Step S2).Next, the controller 1 executes a pedestrian/bicycle notificationsubroutine to notify the occupant in the vehicle equipped with thesurrounding condition detecting system of presence of a pedestrianand/or a bicycle around the vehicle equipped with the surroundingcondition detecting system (Step S3). Next, the controller 1 executes anattention-required zone notification subroutine to notify the vehicleoccupant of presence of an attention-required object, such as a wall, anedge stone, and another vehicle around the vehicle equipped with thesurrounding condition detecting system (Step S4). Next, the controller 1executes an emergency vehicle notification subroutine to notify thevehicle occupant of a fact that an emergency vehicle is approaching(Step S5). Next, the controller 1 executes an obstruction notificationsubroutine to notify the vehicle occupant of presence of an obstructionon the road (Step S6).

After the execution of Step S6, the controller 1 returns to Step S1 andrepeats the processing of Steps S1 to S6.

FIG. 5 is a flowchart showing the detail of the forward vehicle rearlamp notification subroutine executed in Step S1.

In FIG. 5, first, the controller 1 determines whether or not the rearlamp detection data RD has been received from the image recognitionprocessor 4 (Step S11). When Step S11 determines that the rear lampdetection data RD is received, that is, when the rear lamp assembly ofthe vehicle traveling forward is lighting, then the controller 1determines whether an emission color represented by the rear lampdetection data RD is red or not (Step S12). When Step S12 determinesthat the emission color of the rear lamp assembly is red, that is, whenthe stop lamp is lighting, then the controller 1 supplies a red lightingcommand signal to the illumination panel 2 ₁ (Step S13). The redlighting command signal causes the illumination panel 2 ₁, which isinstalled at the center of a steering wheel SW as shown in FIG. 2A, tolight in red. On the other hand, when Step S12 determines that theemission color of the rear lamp assembly is not red, then the controller1 supplies the turn off command signal to the illumination panel 2 ₁ inorder to turn off the illumination panel 2 ₁ (Step S14). After theexecution of Step S13 or S14, the controller 1 determines whether theemission color represented by the rear lamp detection data RD is whiteor not (Step S15). When it is determined in Step S15 that the emissioncolor of the rear lamp assembly is white, i.e., it is determined thatthe backup lamp is lighting, then the controller 1 supplies a whitelighting command signal to the illumination panel 2 ₂ (Step S16). Thewhite lighting command signal causes the illumination panel 2 ₂, whichis installed under the illumination panel 2 ₁ at the center of thesteering wheel SW as shown in FIG. 2A, to light in white. On the otherhand, when Step S15 determines that the emission color of the rear lampassembly is not white, then the controller 1 supplies the turn offcommand to the illumination panel 2 ₂ in order to turn off theillumination panel 2 ₂ (Step S17). After the execution of Step S16 orS17, the controller 1 determines whether the emission color representedby the rear lamp detection data RD is yellow or not (Step S18). WhenStep S18 determines that the emission color of the rear lamp assembly isyellow, i.e., when the turn signal lamp or the hazard warning lamp isactivated, then the controller 1 supplies a yellow blinking commandsignal to the illumination panel 2 (Step S19). The yellow blinkingcommand signal causes one of or both the illumination panels 2 ₃ and 2₄, which are installed at right and left of the illumination panel 2 ₁at the center of the steering wheel SW as shown in FIG. 2A, to blink.That is, in Step S19, when the direction indication information includedin the rear lamp detection data RD indicates right, the controller 1supplies the yellow blinking command signal to the illumination panel 2₄. When the direction indication information indicates left, thecontroller 1 supplies the yellow blinking command signal to theillumination panel 2 ₃. When the direction indication informationindicates both right and left, the controller 1 supplies the yellowblinking command signal to the illumination panels 2 ₃ and 2 ₄. WhenStep S18 determines that the emission color of the rear lamp assembly isnot yellow, then the controller 1 supplies the turn off command to theillumination panels 2 ₃ and 2 ₄ in order to turn off the illuminationpanels 2 ₃ and 2 ₄, respectively (Step S20). When Step S11 determinesthat the rear lamp detection data RD is not received, then thecontroller 1 supplies the turn off command signal to all theillumination panels 2 ₁ and 2 ₄ in order to turn off the illuminationpanels 2 ₁ and 2 ₄ (Step S21).

After the execution of Step S19, S20, or S21, the controller 1 exits theforward vehicle rear lamp notification subroutine shown in FIG. 5 andreturns to the main routine shown in FIG. 4. That is, the controller 1proceeds to execution of the traffic light notification subroutine inStep S2.

FIG. 6 is a flowchart showing the detail of the traffic lightnotification subroutine.

In FIG. 6, first, the controller 1 determines whether or not thetraffic-light detection data SD is received from the image recognitionprocessor 4 (Step S31). When Step S31 determines that the traffic-lightdetection data SD is received, that is, when the traffic light existsahead, then the controller 1 determines whether a lighting color of thetraffic light represented by the traffic light detection data SD is redor not (Step S32). When Step S31 determines that the lighting color isred, the controller 1 sends the red lighting command signal to theillumination panel 2 ₅ (Step S33). The red lighting command signalcauses the illumination panel 2 ₅, which is installed at the ceilingabove a windshield FG of the vehicle as shown in FIG. 2B, to light inred. On the other hand, when Step S32 determines that the lighting colorrepresented by the traffic-light detection data SD is not red, thecontroller 1 supplies the turn off command signal to the illuminationpanel 2 ₅ in order to turn off the illumination panel 2 ₅ (Step S34).After the execution of Step S33 or S34, the controller 1 determineswhether the lighting color of the traffic light represented by thetraffic-light detection data SD is yellow or not (Step S35). When StepS35 determines that the lighting color is yellow, the controller 1supplies a yellow lighting command signal to an illumination panel 2 ₆(Step S36). The yellow lighting command signal causes the illuminationpanel 2 ₆, which is installed on the left of the illumination panel 2 ₅above the windshield of the vehicle as shown in FIG. 2B, to light inyellow. On the other hand, when Step S35 determines that the lightingcolor represented by the traffic-light detection data SD is not yellow,the controller 1 supplies the turn off command signal to theillumination panel 2 ₆ in order to turn off the illumination panel 2 ₆(Step S37). After the execution of Step S36 or S37, the controller 1determines whether the lighting color of the traffic light representedby the traffic-light detection data SD is blue or not (Step S38). WhenStep S38 determines that the lighting color is blue, then the controller1 determines, based on the traffic-light detection data SD, whether theblue lighting indicates a direction with an arrow or not (Step S39).When it is determined in Step S39 that the blue lighting is not an arrowindication, the controller 1 supplies a blue lighting command signal toan illumination panel 2 ₇ (Step S40). The blue lighting command signalcauses the illumination panel 2 ₇, which is installed above thewindshield of the vehicle as shown in FIG. 28, to light in blue. On theother hand, when it is determined in Step S39 that the traffic light isan arrow indication, the controller 1 detects (identifies) a pointingdirection of the arrow based on the traffic-light detection data SD(Step S41). Next, the controller 1 supplies the blue lighting commandsignal to that illumination panel, among the illumination panels 2 ₇, 2₈, and 2 ₂₃ shown in FIG. 2B, which is located at a positioncorresponding to the direction pointed by the arrow (Step S42). The bluelighting command signal causes that illumination panel to light in blue.That is, in Step S42, when the direction pointed by the arrow is right,the controller 1 supplies the blue lighting command signal to theillumination panel 2 ₈. In Step S42, when the direction pointed by thearrow is left, the controller 1 supplies the blue lighting commandsignal to the illumination panel 2 ₇. In Step S42, when the directionpointed by the arrow is the straight direction, the controller 1supplies the blue lighting command signal to the illumination panel 2₂₃. Next, the controller 1 supplies the red lighting command signal tothe illumination panel 2 ₈ (Step S43). The red lighting command signalcauses the illumination panel 2 ₈ to light in red. When Step S38determines that the lighting color of the traffic light represented bythe traffic-light detection data SD is not blue, the controller 1supplies the turn off command signal to the illumination panel 21 inorder to turn off the illumination panel 2 ₇ (Step S44). When Step S31determines that the traffic-light detection data SD is not received, thecontroller 1 supplies the turn off command signal to all theillumination panels 2 ₅ to 2 ₈ and 2 ₂₃ in order to turn off theillumination panels 2 ₅ to 2 ₈ and 2 ₂₃ (Step S45).

After the execution of Step S40, S43, S44, or S45, the controller 1exits the traffic light notification subroutine shown in FIG. 6 andreturns to the main routine shown in FIG. 4. That is, the controller 1proceeds to execution of the pedestrian/bicycle detection subroutine inStep S3.

FIG. 7 is a flowchart showing the detail of the pedestrian/bicycledetection subroutine.

In FIG. 7, first, the controller 1 determines whether or not thepedestrian/bicycle detection data HD is received from the imagerecognition processor 4 (Step S51). When Step S51 determines that thepedestrian/bicycle detection data HD is received, that is, when apedestrian or a bicycle is present around the vehicle equipped with thesurrounding condition detecting system, then the controller 1 selectsthat illumination panel 2 which is installed at a position correspondingto the direction that the pedestrian or the bicycle is present, as anattention-required direction indication panel (Step S52). The directionof the pedestrian or bicycle is represented by the pedestrian/bicycledetection data HD. The controller 1, for example, selects oneillumination panel installed at a position corresponding to thedirection of the pedestrian or the bicycle as the attention-requireddirection indication panel among the illumination panels 2 ₉ to 2 ₁₁installed at the door DL on a front passenger seat side and the lightingpanels 2 ₁₂ to 2 ₁₄ installed at the door DR on the driver's seat sideof the vehicle as shown in FIG. 2A. That is, in Step S52, the controller1 selects an illumination panel 2 ₁₂ as the attention-required directionindication panel when the direction of the pedestrian or the bicycle isright-front, selects an illumination panel 2 ₁₃ when the direction ofthe pedestrian/bicycle is right-lateral, selects an illumination panel 2₁₄ when the direction of the pedestrian/bicycle is right-rear, selectsan illumination panel 2 ₉ when the direction of the pedestrian/bicycleis left-front, selects an illumination panel 2 ₁₀ when the direction ofthe pedestrian/bicycle is left-lateral, and selects an illuminationpanel 2 ₁₁ when the direction of the pedestrian/bicycle is left-rear.

Next, the controller 1 sets emission conditions (luminance, a color, anda blinking speed) corresponding to a distance to and a speed relative tothe pedestrian or the bicycle represented by the pedestrian/bicycledetection data HD (Step S53). The emission condition is set, forexample, as follows. The smaller the distance to the pedestrian/bicycle,the higher the luminance is. The smaller the distance, the more theemission color transitions from a cool color to a warm color (e.g.,purple→indigo→blue→green→yellow→orange→red). The smaller the distance,the higher the blinking speed is. The higher the relative speed, thehigher the luminance is. The higher the relative speed, the more theemission color transitions from a cool color to a warm color. The higherthe relative speed, the higher the blinking speed is. It should be notedthat the above-mentioned emission conditions based on the distance andrelative speed may be combined.

Next, the controller 1 supplies the lighting or blinking command signalto the attention-required direction indication panel (Step S54). Thelighting or blinking command signal causes the attention-requireddirection indication panel selected among the illumination panels 2 ₉ to2 ₁₁ and 2 ₁₂ to 2 ₁₄ (FIG. 2A) in Step S52 to light or blink under theemission conditions set in Step S53.

When Step S51 determines that the pedestrian/bicycle detection data HDis not received, the controller 1 supplies the turn off command signalto the attention-required direction indication panel in order to turnoff the attention-required direction indication panel (Step S55).

After the execution of Step S54 or S55, the controller 1 exits thepedestrian/bicycle detection subroutine shown in FIG. 7 and returns tothe main routine shown in FIG. 4. That is, the controller 1 proceeds toexecution of the attention-required zone notification subroutine in StepS4.

FIG. 8 is a flowchart illustrating the detail of the attention-requiredzone notification subroutine.

In FIG. 8, first, the controller 1 determines whether or not theattention-required zone detection data ED is received from the imagerecognition processor 4 (Step S61). When Step S61 determines that theattention-required zone detection data ED is received, that is, when aroad zone with poor visibility is detected and an attention-requiredobject, such as a wall, an edge stone, and a vehicle, is present on theroad, then the controller 1 selects that illumination panel 2 which isinstalled at a position corresponding to the direction that theattention-required object is p resent, which is represented by theattention-required zone detect ion data ED (Step S62). The selectedillumination panel 2 is used as an attention-required directionindication panel. The controller 1, for example, selects oneillumination panel installed at a position corresponding to thedirection that the attention-required object, such as a wall, an edgestone, and a vehicle, is present as the attention-required directionindication panel among the illumination panels 2 ₉ to 2 ₁₁ installed atthe door DL on the front passenger seat side of the vehicle and theillumination panels 2 ₁₂ to 2 ₁₄ installed at the door DR on thedriver's seat side of the vehicle as shown in FIG. 2A. That is, in StepS62, the controller 1 selects the illumination panel 2 ₁₂ as theattention-required direction indication panel when the direction of theabove-described attention-required object is right front, selects theillumination panel 2 ₁₃ when the direction of the attention-requiredobject is right-lateral, selects the illumination panel 2 ₁₄ when thedirection of the attention-required object is right-rear, selects theillumination panel 2 ₉ when the direction of the attention-requiredobject is left-front, selects the illumination panel 2 ₁₀ when thedirection of the attention-required object is left lateral, and selectsthe illumination panel 2 ₁₁ when the direction of the attention-requiredobject is left-rear.

Next, the controller 1 sets light emission conditions (luminance, acolor, and a blinking speed) corresponding to a distance to and a speedrelative to the attention-required object represented by theattention-required zone detection data ED (Step S63). The light emissioncondition is set, for example, as follows. The smaller the distance, thehigher the luminance is. The smaller the distance, the more the emissioncolor transitions from a cool color to a warm color(purple→indigo→blue→green→yellow→orange→red). The smaller the distance,the higher the blinking speed is. The higher the relative speed, thehigher the luminance is. The higher the relative speed, the more theemission color transitions from a cool color to a warm color. The higherthe relative speed, the higher the blinking speed is. It should be notedthat the above-described light emission conditions based on the distanceand relative speed may be combined.

Next, the controller 1 supplies the lighting or blinking command signalto the attention-required direction (cautionary direction) indicationpanel (Step S64). The lighting or blinking command signal causes theattention-required direction indication panel, selected among theillumination panels 2 ₉ to 2 ₁₁ and 2 ₁₂ to 2 ₁₄ (FIG. 2A) in Step S62,to light or blink under the light emission conditions set in Step S63.

When Step S61 determines that the attention-required zone detection dataED is not received, the controller 1 supplies the turn off commandsignal to the attention-required direction indication panel in order toturn off the attention-required direction indication panel (Step S65).

After the execution of Step S64 or S65, the controller 1 exits theattention-required zone notification subroutine shown in FIG. 8 andreturns to the main routine shown in FIG. 4. Thus, the controller 1proceeds to execution of the emergency vehicle notification subroutinein Step S5.

FIG. 9 is a flowchart illustrating the detail of the emergency vehiclenotification subroutine.

In FIG. 9, first, the controller 1 determines whether or not theemergency vehicle detection data QD is received from the imagerecognition processor 4 (Step S71). When Step S71 determines that theemergency vehicle detection data QD is received, that is, when anemergency vehicle is present near the vehicle equipped with thesurrounding condition detecting system, then the controller 1 selectsthat illumination panel 2 which is disposed at a position correspondingto the direction that the emergency vehicle is present, as theattention-required direction indication panel (Step S72). The presenceof the emergency vehicle is represented by the emergency vehicledetection data QD. The controller 1, for example, selects oneillumination panel disposed at a position corresponding to the directionthat the emergency vehicle is present as the attention-requireddirection indication panel among the illumination panels 2 ₉ to 2 ₁₁disposed at the door DL on the front passenger seat side and theillumination panels 2 ₁₂ to 2 ₁₄ disposed at the door DR on the driver'sseat side of the vehicle as shown in Fi g. 2A. That is, in Step S72, thecontroller 1 selects the illumination panel 2 ₁₂ as theattention-required direction indication panel when the direction of theemergency vehicle is right-front, selects the illumination panel 2 ₁₃when the direction of the emergency vehicle is right-lateral, selectsthe illumination panel 2 ₁₄ when the direction of the emergency vehicleis right-rear, selects the illumination panel 2 ₉ when the direction ofthe emergency vehicle is left-front, selects the illumination panel 2 ₁₀when the direction of the emergency vehicle is left-lateral, and selectsthe illumination panel 2 ₁₁ when the direction of the emergency vehicleis left-rear.

Next, the controller 1 sets light emission conditions (luminance, acolor, and a blinking speed) corresponding to a distance to and a speedrelative to the emergency vehicle represented by the emergency vehicledetection data QD (Step S73). The light emission condition is set, forexample, as follows. The smaller the distance, the higher the luminanceis. The smaller the distance, the more the emission color transitionsfrom a cool color to a warm color(purple→indigo→blue→green→yellow→orange→red). The smaller the distance,the higher the blinking speed is. The higher the relative speed, thehigher the luminance is. The higher the relative speed, the more theemission color transitions from a cool color to a warm color. The higherthe relative speed, the higher the blinking speed is. It should be notedthat the light emission conditions based on the distance and relativespeed may be combined.

Next, the controller 1 supplies the lighting or blinking command signalto the attention-required direction indication panel (Step S74). Thelighting or blinking command signal causes the attention-requireddirection indication panel, selected among the light emission panels 2 ₉to 2 ₁₁ and 2 ₁₂ to 2 ₁₄ (FIG. 2A) in Step S72, to light or blink underthe light emission conditions set in Step S73.

When Step S71 determines that the emergency vehicle detection data QD isnot received, the controller 1 supplies the turn off command signal tothe attention-required direction indication panel in order to turn offthe attention-required direction indication panel (Step S75).

After the execution of Step S74 or S75, the controller 1 exits theemergency vehicle notification subroutine shown in FIG. 9 and returns tothe main routine shown in FIG. 4. That is, the controller 1 proceeds toexecution of the obstruction notification subroutine in Step S6.

FIG. 10 is a flowchart illustrating the detail of the obstructionnotification subroutine.

In FIG. 10, first, the controller 1 determines whether or not theobstruction detection data GD is received from the image recognitionprocessor 4 (Step S81). When Step S81 determines that the obstructiondetection data GD is received, i.e., when an obstruction is presentaround the vehicle equipped with the surrounding condition detectingsystem, the controller 1 selects that illumination panel 2 which isdisposed at a position corresponding to the direction that theobstruction is present, as the attention-required direction indicationpanel (Step S82). The presence of the obstruction is represented by theobstruction detection data GD. The controller 1, for example, selectsone illumination panel disposed at a position corresponding to thedirection that the obstruction is present as the attention-requireddirection indication panel among the illumination panels 2 ₉ to 2 ₁₁disposed at the door DL on the front passenger seat side and theillumination panels 2 ₁₂ to 2 ₁₄ disposed at the door DR on the driver'sseat side of the vehicle as shown in FIG. 2A. That is, in Step S82, thecontroller 1 selects, as the attention-required direction indicationpanel, the illumination panel 2 ₁₂ when the direction of the obstructionis right-front, selects the illumination panel 2 ₁₃ when the directionof the obstruction is right-lateral, selects the illumination panel 2 ₁₄when the direction of the obstruction is right-rear, selects theillumination panel 2 ₉ when the direction of the obstruction isleft-front, selects the illumination panel 2 ₁₀ when the direction ofthe obstruction is left-lateral, and selects the illumination panel 2 ₁₁when the direction of the obstruction is left-rear.

Next, the controller 1 sets light emission conditions (luminance, acolor, and a blinking speed) corresponding to a distance to and a sizeof the obstruction represented by the obstruction detection data GD(Step S83). The light emission condition is set, for example, asfollows. The smaller the distance, the higher the luminance is. Thesmaller the distance, the more the emission color transitions from acool color to a warm color (purple→indigo→blue→green→yellow→orange→red).The smaller the distance, the higher the blinking speed is. The largerthe obstruction size, the higher the luminance is. The larger theobstruction size, the more the emission color is inclined toward a warmcolor. The larger the obstruction size, the higher the blinking speedis. It should be noted that the light emission conditions based on thedistance and size may be combined.

Next, the controller 1 supplies the lighting or blinking command signalto the attention-required direction indication panel (Step S84). Thelighting or blinking command signal causes the attention-requireddirection indication panel, selected among the illumination panels 2 ₉to 2 ₁₁ and 2 ₁₂ to 2 ₁₄ (FIG. 2A) in Step 82, to light or blink underthe light emission conditions set in Step S83.

When it is determined in Step S81 that the obstruction detection data GDis not received, then the controller 1 supplies the turn off commandsignal to the attention-required direction indication panel in order toturn off the attention-required direction indication panel (Step S85).

After the execution of Step S84 or S85, the controller 1 exits theobstruction notification subroutine shown in FIG. 10 and returns to themain routine shown in FIG. 4. That is, the controller 1 proceeds toexecution of the forward vehicle rear lamp notification subroutine inStep S1 and repeatedly executes the above-described processing.

Operations and advantages obtained upon execution of the processingshown in FIG. 4 to FIG. 10 will be described.

When a stop lamp of a vehicle traveling forward of the vehicle equippedwith the surrounding condition detecting system emits a red light, theillumination panel 2 ₁ emits a red light in accordance with the lightingstop lamp. The illumination panel 2 ₁ is installed at the center of thesteering wheel SW, which is a shaded portion in FIG. 11A. When a backuplamp of a vehicle in front of the vehicle equipped with the surroundingcondition detecting system emits a white light, the illumination panel 2₂ emits a white light in accordance with the lighting backup lamp. Theillumination panel 2 ₂ is installed under the illumination panel 2 ₁ ofthe steering wheel SW, which is a shaded portion in FIG. 11B. When aright turn signal lamp of a vehicle traveling ahead is blinking inyellow, the illumination panel 2 ₄ blinks in yellow in accordance withthe blinking turn signal lamp. The illumination panel 2 ₄ is installedat right lateral to the illumination panel 2 ₁ of the steering wheel SW,which is a shaded portion in FIG. 11C. When a left turn signal lamp ofthe vehicle traveling forward is blinking in yellow, the illuminationpanel 2 ₃ blinks in yellow in accordance with the blinking turn signallamp. The light-emitting panel 2 ₃ is installed at left-lateral to thelight-emitting panel 2 ₁ of the steering wheel SW, which is a shadedportion in FIG. 11D. When a hazard warning lamp of the vehicle travelingforward is blinking in yellow, the illumination panels 2 ₃ and 2 ₄ blinkin yellow in accordance with the flashing hazard warning lamp. Theillumination panels 2 ₃ and 2 ₄ are installed at left-lateral andright-lateral of the illumination panel 2 ₁ of the steering wheel SW,which are shaded portions in FIG. 11E, respectively. Each emission colorof the illumination panels 2 ₁ to 2 ₄ (when the illumination panels 2 ₁to 2 ₄ lights or blinks) only needs to be a color similar to theemission color of the lighting rear lamp of the forward vehicle. Inother words, the colors of the light emitted from the illuminationpanels 2 ₁ to 2 ₄ need not to be completely the same color as the rearlamp assembly of the forward vehicle.

That is, when an image captured by the front camera 3 includes alighting rear lamp of the forward vehicle, the illumination panels 2 ₁to 2 ₄, which are installed at the steering wheel SW, reproduce thelighting or blinking state with a color corresponding to the emissioncolor of the rear lamp assembly of the forward vehicle. Accordingly,even if the driver's visual line is out of the forward vehicle, thelighting/blinking state of the illumination panels 2 ₁ to 2 ₄ installedat the steering wheel SW enters the driver's field of vision. Thus, evenif the driver does not look at the forward vehicle, the driver canrecognize a state of the rear lamp assembly of the forward vehicle (thebackup lamp, the stop lamp, the turn signal lamp, or the hazard warninglamp) without moving the direction of his visual line. Accordingly, inthe case where heavy braking is applied to the forward vehicle while thedriver of the vehicle equipped with the surrounding condition detectingsystem is checking, for example, a traffic sign, the driver of thevehicle equipped with the surrounding condition detecting system canimmediately take avoidance behavior.

When a traffic light appears forward while the vehicle equipped with thesurrounding condition detecting system is traveling, and the emissioncolor of the traffic light is red, then the illumination panel 2 ₅lights in red. The illumination panel 2 ₅ is installed above thewindshield FG, which is a shaded portion in FIG. 12A. When the emissioncolor of the traffic light is yellow, the illumination panel 2 ₆ lightsin yellow. The illumination panel 2 ₆ is installed above the windshieldFG, which is a shaded portion in FIG. 12B. When the emission color ofthe traffic light is blue (green), the illumination panel 2 ₇ lights inblue (green). The illumination panel 2 ₇ is installed above thewindshield FG, which is a shaded portion in FIG. 12C. When the trafficlight displays an arrow pointing leftward, the illumination panel 2 ₇lights in blue and the illumination panel 2 ₅ lights in red. Theillumination panel 2 ₇ is installed above the windshield FG, which isone of shaded portions in FIG. 12D. The illumination panel 2 ₅ isinstalled next to next to the illumination panel 2 ₇. The illuminationpanel 2 ₅ is also installed above the windshield FG, which is the otherof the shaded portions in FIG. 12D. When the traffic light displays anarrow pointing rightward, the illumination panel 2 ₈ lights in blue andthe illumination panel 2 ₅ lights in red. The illumination panel 2 ₇ isinstalled above the windshield FG, and the illumination panel 2 ₅ islaterally next to the illumination panel 2 ₈. Both the illuminationpanels 2 ₅ and 2 ₈ are shaded portions in FIG. 12E. When the trafficlight displays an arrow pointing a straight direction, the illuminationpanel 2 ₂₃ lights in blue and the illumination panel 2 ₅ lights in red.The illumination panel 2 ₂₃ is installed above the windshield FG, andthe illumination panel 2 ₅ is disposed below the illumination panel 2₂₃. The illumination panels 2 ₅ and 2 ₂₃ are shaded portions in FIG.12F. That is, combination of blue light from one illumination panel 2and red light from another illumination panel 2 indicates that a turnarrow display is made by the traffic light. An installation position ofthe illumination panel 2 that lights in blue indicates a direction towhich the vehicle is allowed to move. It should be noted that eachemission color of the illumination panels 2 ₅ to 2 ₈ and 2 ₂₃ only needsto be a color corresponding (similar) to the emission color of thetraffic light. The emission colors of the illumination panels 2 ₅ to 2 ₈and 2 ₂₃ need not to be completely the same color as the traffic light.

Thus, when an image captured by the front camera 3 includes the trafficlight, the illumination panels 2 ₅ to 2 ₈ and 2 ₂₃, which are installedabove the windshield FG in front of the driver's seat, reproduce thelighting state of the traffic light with a color corresponding to thelighting color of the traffic light. Accordingly, even if the drivercannot visually observe a color of the traffic light due to sunlight,the lighting color of the traffic light can be checked. Even if thedriver's visual line is out of the traffic light, lighting states of theillumination panels 2 ₅ to 2 ₈ and 2 ₂₃ installed above the windshieldFG enters the driver's field of vision. This allows the driver torecognize the color of the traffic light without moving an eye directionof the driver. When the traffic light displays a turn-arrow, thedirection of the turn arrow displayed can be recognized by therelationship between a position of one illumination panel 2 that emits ared light and a position of another illumination panel 2 that emits ablue light.

When the avoidance-required obstacle such as a pedestrian, a bicycle, awall, an edge stone, an obstruction, and an emergency vehicle is presentaround the vehicle equipped with the surrounding condition detectingsystem, that illumination panel 2 which is installed at a positioncorresponding to a direction of the avoidance-required obstacle lightsor blinks. For example, when the avoidance-required obstacle is presentright front of the vehicle equipped with the surrounding conditiondetecting system, then the illumination panel 2 ₁₂, which is a shadedportion in FIG. 13A, installed on the vehicle front side among theillumination panels 2 ₁₂ to 2 ₁₄ lights or blinks. The illuminationpanels 2 ₁₂ to 2 ₁₄ are situated at the door DR on the driver's seatside. When the avoidance-required obstacle is present right-lateral tothe vehicle equipped with the surrounding condition detecting system,then the illumination panel 2 ₁₃, which is a shaded portion in FIG. 13B,installed at the center among the illumination panels 2 ₁₂ to 2 ₁₄lights or blinks. The illumination panels 2 ₁₂ to 2 ₁₄ are mounted onthe door DR on the driver's seat side. When the avoidance-requiredobstacle is present left-rear of the vehicle equipped with thesurrounding condition detecting system, the illumination panel 2 ₁₁,which is a shaded portion in FIG. 13C, installed on the vehicle rearside among the illumination panels 2 ₉ to 2 ₁₁ lights or blinks. Theillumination panels 2 ₉ to 2 ₁₁ are installed at the door DL on thefront passenger seat side. The illumination panel lights or blinks inthe following manner. The smaller the distance from the vehicle to theavoidance required obstacle, the higher luminance of the lighting orblinking illumination panel 2 is. The larger the relative speed betweenthe avoidance-required obstacle and the vehicle, the higher luminance ofthe lighting or blinking illumination panel 2 is. The smaller thedistance from the vehicle to the avoidance-required obstacle, the morethe emission color transitions from a cool color to a warm color (forexample, purple→indigo→blue→green→yellow→orange→red). The larger therelative speed between the avoidance-required obstacle and the vehicle,the more the emission color transitions from a cool color to a warmcolor. The smaller the distance from the vehicle to theavoidance-required obstacle, the higher the blinking speed of theblinking illumination panel 2 is. The greater the relative speed betweenthe avoidance-required obstacle and the vehicle, the higher the blinkingspeed of the blinking illumination panel 2 is. When an obstruction ispresent on the road, the larger the obstruction size, the higher theluminance of the lighting or blinking illumination panel 2 is. Thelarger the obstruction size, the emission color of the lighting orblinking illumination panel 2 is inclined toward a warm color. Thelarger the obstruction size, the higher the blinking speed is.

That is, when an image captured by the front camera 3, the rear camera5, or the side camera 6 includes the avoidance-required obstacle, i.e.,when the avoidance-required obstacle is present near the vehicleequipped with the surrounding condition detecting system, then a stateof at least one of the light emitting panels 2 provided in the vehiclecabin is forcibly changed (change from unlit state to lighting orblinking state, changes in emission color or change in luminance).Accordingly, even if the driver of the vehicle equipped with thesurrounding condition detecting system does not visually observe theattention-required object around the vehicle equipped with thesurrounding condition detecting system, the change in the state of thelight emitting panel(s) 2 enters the driver's field of vision. Thisallows the driver to recognize that the attention required objectapproaches his vehicle or his vehicle approaches the attention-requiredobject. The light emitting panel 2 installed at a position correspondingto a direction that the attention-required object is present is causedto light or blink (flash). This allows the driver to recognize thedirection where the attention-required object (cautionary object) ispresent without moving the driver's visual line.

Accordingly, even if the avoidance-required obstacle present near thevehicle is out of the driver's field of vision during backward driving,entering a road zone with poor visibility, or exiting a parking area orlot, light (blinking or no blinking) of the luminescence panel 2 locatedat a position corresponding to a direction of the avoidance-requiredobstacle enters the driver's field of vision. This enables the driver torecognize the direction where the avoidance-required obstacle is presentwithout moving the driver's visual line. Because the emission color, theluminance, and the blinking speed of the luminescence panel 2 change inaccordance with the distance and the relative speed between the vehicleand the avoidance-required obstacle, the driver is able to intuitivelyrecognize danger or hazard associated with the approachingavoidance-required obstacle.

Steps S73 and S74 in the emergency vehicle notification subroutine shownin FIG. 9 are executed with an emergency vehicle as the obstacle. Itshould be noted, however, that processing similar to Steps S73 and S74may be carried out with a preceding vehicle as the avoidance-requiredobject. For example, if a distance to the preceding vehicle becomessmaller than a predetermined distance, all of the luminescence lamps 2 ₁to 2 ₄ mounted on the steering wheel SW (FIG. 2A) may be used as theattention-required direction indication panels. Then, the processingsimilar to Steps S73 and S74 are carried out. Accordingly, the smallerthe distance to the preceding vehicle, the higher the luminance of eachof the luminescence panels 2 ₁ to 2 ₄ is. The higher the relative speedto the preceding vehicle, the higher the luminance of each of theluminescence panels 2 ₁ to 2 ₄ is. The smaller the distance to thepreceding vehicle, the more the emission color transitions from a coolcolor to a warm color (for example,purple→indigo→blue→green→yellow→orange→red). The higher the relativespeed to the preceding vehicle, the more the emission color transitionsfrom a cool color to a warm color. The smaller the distance to thepreceding vehicle, the higher the blinking speed of each of theluminescence panels 2 ₁ to 2 ₄ is. The higher the relative speed to thepreceding vehicle, the higher the blinking speed of each of theluminescence panels 2 ₁ to 2 ₄ is.

Although in the above-described embodiment, as shown in FIG. 13A to FIG.13C, the direction of the avoidance-required object is indicated bylighting or blinking of the luminescence panels 2 ₉ to 2 ₁₄ mounted onthe door DR on the d river's seat side and the door DL on the frontpassenger seat side, the direction of the avoidance required object maybe indicated by another luminescence panel(s) 2.

In the case where, for example, an avoidance-required object approachesfrom rightward of the vehicle equipped with the surrounding conditiondetecting system at an intersection with poor visibility where entry isfrom a narrow road without effective right/left visibility into a wideroad, a luminescence panel 2 ₁₅ mounted on a dashboard on the driver'sseat side shown in FIG. 14A is caused to light or blink. When theavoidance-required object approaches from leftward of the vehicleequipped with the surrounding condition detecting system, theluminescence panel 2 ₁₆ mounted on the dashboard on the front passengerseat side shown in FIG. 14B may be caused to light or blink. When theavoidance-required object is present right-lateral to the vehicleequipped with the surrounding condition detecting system, theluminescence panel 2 ₁₂ mounted on the door DR on the driver's seat side(FIG. 2A) may be caused to light or blink. When the avoidance-requiredobject is present left-lateral to the vehicle, the luminescence panel 2₉ mounted on the door DL on the front passenger seat side (FIG. 2A) maybe caused to light or blink. Similarly, the luminescence panels 2 ₁₇ to2 ₂₂ mounted on the ceiling in the vehicle cabin (FIG. 2B) may be causedto light or blink corresponding to a direction of the avoidance-requiredobject. For example, when the avoidance-required object is present atright front of the vehicle equipped with the surrounding conditiondetecting system, the luminescence panel 2 ₁₇ mounted on the ceiling maybe caused to light or blink. When the avoidance-required object ispresent at left-rear of the vehicle, the luminescence panel 2 ₂₂ mountedon the ceiling may be caused to light or blink.

DESCRIPTION OF REFERENCE SIGNS

-   1 controller-   2 ₁ to 2 _(n) light emitting panels-   3 front camera-   4 image recognition processor-   5 rear camera-   6 side cameras

What is claimed is:
 1. A system for detecting a surrounding conditionrelative to a body, the system comprising: a plurality oflight-emitters, a sensor configured to detect the surrounding condition;and a controller configured to change a state of at least one of theplurality of the light-emitters when the sensor detects an object at anintersection.
 2. The system according to claim 1, wherein the controllerchanges the state of the at least one of the plurality of light emitterspositioned corresponding to a direction of the object.
 3. The systemaccording to claim 1, wherein, when the object is present at a rightside of the body, the controller changes the state of ones of theplurality of light-emitters positioned on the right side to light orblink; and, when the object is present at a left side of the body, thecontroller changes the state of other ones of the plurality oflight-emitters positioned on the left side to light or blink.
 4. Thesystem according to claim 3, wherein the controller changes the state ofthe at least one of the plurality of light-emitters to an off state whenthe body moves from the intersection.
 5. The system according to claim1, wherein the at least one of the plurality of the light-emitter ismounted on a dashboard of the body.
 6. The system according to claim 1,wherein the at least one of the plurality of the light-emitter ismounted on a ceiling of the body.
 7. The system according to claim 1,wherein the intersection comprises an entry from a first road to asecond road that is wider than the first road.
 8. The system accordingto claim 1, wherein the controller changes the state of a first one ofthe plurality of light emitters positioned at a first direction to lightor blink when the object is positioned at the first direction, wherein,when the object moves to a second direction from the first direction,the controller changes the state of the first one of the plurality oflight-emitters to an off sate and changes a state of second lightemitter positioned at second direction to light or blink.
 9. Anillumination device that indicates a surrounding condition relative to abody, the illumination device comprising: a plurality of light-emitters,each of which is configured to receive a voltage and, based on thevoltage, to change a state; and a driver configured to generate thevoltage based on a detected object to which attention must be paid in avicinity of the body, wherein at least one of the plurality oflight-emitters changes the state based on the voltage when an object isdetected at an intersection.
 10. The illumination device according toclaim 9, wherein the driver generates the voltage according to a signalreceived from a controller.
 11. The illumination device according toclaim 9, wherein the driver changes the voltage to the at least one ofthe plurality of light-emitters when the body moves from theintersection.
 12. The illumination device according to claim 9, whereinthe at least one of the plurality of light-emitters is mounted on adashboard of the body.
 13. The illumination device according to claim 9,wherein the at least one of the plurality of light-emitters is mountedon a ceiling of the body.
 14. The illumination device according to claim9, wherein the intersection comprises an entry from a first road to asecond road that is wider than the first road.
 15. A detector attachableto a vehicle, the detector comprising: a sensor configured to detect thesurrounding condition; and a controller configured to change a state ofat least one of a plurality of light-emitters when the sensor detects anobject at an intersection.
 16. The detector according to claim 15,wherein the controller changes the state of the at least one of theplurality of light emitters that is positioned corresponding to adirection of the object.
 17. The detector according to claim 15, whereinthe controller changes the state of at least one of the plurality oflight-emitters to light or blink; and, wherein the controller changesthe state of at least one of the plurality of light-emitters to an offstate when the body moves from the intersection.
 18. The detectoraccording to claim 15, wherein the intersection comprises an entry froma first road to a second road that is wider than the first road.
 19. Thedetector according to claim 15, wherein the sensor comprises a camerapositioned on a front portion of the body.
 20. The detector according toclaim 19, wherein the sensor comprises an image recognition processorwhich performs image recognition to image signals from the camera, so asto detect the object.